version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 426
start: 4 18 119 15 15 37
data:
$ID,574
$MISSION,3
$DIVE,426
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,20
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,343
$T_ABORT,358
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53998
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,350
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,515.36688
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,117
$PITCH_MAX,3869
$C_PITCH,2759
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,301
$ROLL_MAX,3936
$ROLL_DEG,40
$C_ROLL_DIVE,1812
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2701
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.54955
$PRESSURE_SLOPE,0.0001058
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,3.1600001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907312
$SEABIRD_T_H,0.00061813911
$SEABIRD_T_I,2.1013675e-05
$SEABIRD_T_J,2.0586713e-06
$SEABIRD_C_G,-9.7689371
$SEABIRD_C_H,1.1415389
$SEABIRD_C_I,-0.0022330475
$SEABIRD_C_J,0.00024789109
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,180419,150501,-3427.2617,2534.7441,7,0.9,35,-28.0,1.4,232.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-65.0
$GPS2,180419,151511,-3427.4104,2534.4746,7,0.9,14,-28.0,0.6,308.9,9,9.0
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,HEADING
$TGT_LATLONG,-3416.775,2532.205
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,18.0,20000,-13.9,-10.010,-17.09,3711
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.76,-243.3,54,1794,625,546,0.0,0.0,0,129,0.00,0.00,-102.82,0.000,16386,0.000,0.000,54,1795,3100,3065,3135,0,0,0,0,0,0,14.90,28.83,14.90
$GC,135,-0.76,-243.3,54,1794,3065,3136,4.1,-9.8,19,165,14.73,2.45,-9.68,0.000,18692,0.306,0.073,2496,3210,3694,3707,3681,0,0,0,0,0,0,14.45,13.45,14.75
$GC,269,-0.76,-243.3,2496,3208,3708,3682,34.6,-13.7,44,277,0.05,2.38,0.00,0.000,3078,0.299,0.045,2508,1807,3695,3709,3681,0,0,0,0,0,0,14.59,14.74,14.70
$GC,342,-0.76,-243.3,2508,1806,3709,3681,45.3,-15.5,57,347,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1806,3695,3709,3681,0,0,0,0,0,0,15.00,15.00,15.00
$GC,411,-0.76,-243.3,2508,1807,3709,3681,55.5,-13.7,70,417,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1806,3697,3709,3686,0,0,0,0,0,0,15.01,15.01,15.01
$GC,480,-0.76,-243.3,2508,1806,3709,3681,64.5,-12.8,83,489,0.00,2.40,0.00,0.000,2308,0.000,0.055,2508,3206,3695,3709,3682,0,0,0,0,0,0,15.03,14.64,15.03
$GC,527,-0.76,-243.3,2508,3207,3708,3682,69.7,-10.5,91,534,0.00,2.38,0.00,0.000,3078,0.000,0.044,2508,1810,3695,3709,3681,0,0,0,0,0,0,14.88,14.74,14.90
$GC,599,-0.76,-243.3,2508,1810,3709,3681,77.8,-12.1,104,606,0.00,2.42,0.00,0.000,2564,0.000,0.066,2508,408,3695,3709,3681,0,0,0,0,0,0,15.02,14.76,15.04
$GC,628,-0.76,-243.3,2508,408,3709,3682,82.1,-14.0,109,635,0.00,2.33,0.00,0.000,3078,0.000,0.034,2508,1813,3695,3709,3681,0,0,0,0,0,0,14.91,14.82,14.92
$GC,700,-0.76,-243.3,2507,1816,3709,3682,90.2,-12.0,122,706,0.00,2.38,0.00,0.000,2308,0.000,0.056,2508,3209,3695,3709,3681,0,0,0,0,0,0,15.05,14.65,15.05
$GC,740,-0.76,-243.3,2507,3209,3709,3682,95.1,-10.5,129,747,0.00,2.35,0.00,0.000,3078,0.000,0.042,2508,1811,3695,3709,3681,0,0,0,0,0,0,14.78,14.67,14.83
$GC,811,-0.76,-243.3,2507,1810,3709,3681,102.8,-10.8,142,816,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3695,3709,3682,0,0,0,0,0,0,15.04,15.05,15.05
$GC,882,-0.76,-243.3,2507,1810,3709,3681,110.3,-10.6,155,888,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1811,3697,3709,3685,0,0,0,0,0,0,15.06,15.06,15.06
$GC,952,-0.76,-243.3,2507,1810,3709,3681,117.6,-10.1,168,958,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1811,3695,3709,3682,0,0,0,0,0,0,15.05,15.06,15.06
$GC,1021,-0.76,-243.3,2507,1810,3710,3681,124.9,-10.8,181,1029,0.00,2.42,0.00,0.000,2308,0.000,0.054,2507,3209,3695,3709,3682,0,0,0,0,0,0,15.06,14.73,15.06
$GC,1047,-0.76,-243.3,2506,3208,3709,3681,127.6,-10.3,185,1053,0.00,2.38,0.00,0.000,3078,0.000,0.044,2507,1807,3695,3710,3681,0,0,0,0,0,0,14.90,14.76,14.92
$GC,1118,-0.76,-243.3,2507,1807,3709,3681,135.0,-11.1,198,1125,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1807,3695,3709,3681,0,0,0,0,0,0,15.05,15.05,15.05
$GC,1189,-0.76,-243.3,2507,1807,3709,3681,143.1,-11.7,211,1195,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1806,3695,3709,3681,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1259,-0.76,-243.3,2507,1807,3709,3681,151.6,-12.0,224,1265,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1806,3695,3709,3681,0,0,0,0,0,0,15.04,15.05,15.04
$GC,1331,-0.76,-243.3,2507,1807,3709,3682,160.3,-12.9,237,1336,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1807,3695,3709,3681,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1399,-0.76,-243.3,2507,1807,3709,3681,169.9,-12.9,250,1406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1806,3695,3709,3681,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1471,-0.76,-243.3,2507,1807,3709,3681,178.4,-12.9,263,1477,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1807,3694,3708,3680,0,0,0,0,0,0,15.06,15.07,15.07
$GC,1541,-0.76,-243.3,2507,1806,3709,3681,187.7,-12.3,276,1548,0.00,2.42,0.00,0.000,2308,0.000,0.054,2505,3211,3694,3708,3681,0,0,0,0,0,0,15.07,14.73,15.07
$GC,1573,-0.76,-243.3,2505,3211,3708,3681,191.4,-11.1,281,1580,0.00,2.38,0.00,0.000,3078,0.000,0.044,2505,1804,3695,3709,3681,0,0,0,0,0,0,14.92,14.81,14.94
$GC,1645,-0.76,-243.3,2505,1803,3707,3680,199.3,-11.7,294,1650,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1804,3694,3708,3681,0,0,0,0,0,0,15.06,15.06,15.06
$GC,1714,-0.76,-243.3,2505,1803,3708,3681,207.3,-11.2,307,1719,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1804,3694,3708,3681,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1782,-0.76,-243.3,2505,1803,3707,3680,215.0,-11.5,320,1788,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1804,3694,3708,3681,0,0,0,0,0,0,15.08,15.09,15.09
$STATE,1793,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1793,begin apogee
$GC,1799,-0.17,0.0,2505,1803,3708,3680,216.7,-12.0,322,1992,0.98,0.00,184.35,1.236,10246,0.148,0.000,2698,1800,2700,2733,2668,0,0,0,0,0,0,14.64,14.31,13.78
$STATE,1995,end apogee,CONTROL_FINISHED_OK
$STATE,1996,begin climb
$GC,1998,0.76,243.3,2698,1801,2732,2667,222.4,0.0,357,2202,1.38,2.55,191.35,1.202,10500,0.072,0.050,2992,3205,1705,1745,1666,0,0,0,0,0,0,14.33,14.20,13.74
$GC,2315,0.76,243.3,2992,3205,1738,1663,201.6,14.9,414,2322,0.00,2.45,0.00,0.000,3078,0.000,0.051,2999,1803,1700,1738,1663,0,0,0,0,0,0,14.66,14.55,14.67
$GC,2387,0.76,243.3,2999,1803,1738,1661,191.2,15.4,427,2393,0.00,0.00,0.00,0.000,2054,0.000,0.000,2998,1803,1699,1738,1661,0,0,0,0,0,0,14.84,14.84,14.84
$GC,2456,0.76,243.3,2999,1800,1737,1660,180.6,14.7,440,2462,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1802,1699,1738,1660,0,0,0,0,0,0,14.90,14.91,14.90
$GC,2524,0.76,243.3,2998,1803,1737,1660,170.7,14.1,453,2530,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1803,1698,1737,1660,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2593,0.76,243.3,2999,1803,1737,1659,161.1,14.2,466,2599,0.00,0.00,0.00,0.000,2054,0.000,0.000,3000,1803,1698,1737,1660,0,0,0,0,0,0,14.97,14.98,14.97
$GC,2662,0.76,243.3,2999,1803,1736,1660,151.4,13.4,479,2668,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1803,1697,1736,1659,0,0,0,0,0,0,14.99,15.00,14.99
$GC,2731,0.76,243.3,2999,1803,1736,1659,141.2,14.7,492,2737,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1803,1697,1736,1659,0,0,0,0,0,0,15.00,15.01,15.00
$GC,2800,0.76,243.3,2999,1802,1734,1659,130.9,15.2,505,2806,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1802,1697,1735,1659,0,0,0,0,0,0,15.02,15.03,15.02
$GC,2868,0.76,243.3,2999,1803,1735,1659,120.7,14.8,518,2874,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1803,1697,1735,1659,0,0,0,0,0,0,15.04,15.04,15.04
$GC,2937,0.76,243.3,2999,1803,1735,1659,110.9,14.0,531,2943,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1803,1697,1735,1659,0,0,0,0,0,0,15.04,15.04,15.04
$GC,3006,0.76,243.3,2999,1802,1735,1658,101.0,13.9,544,3011,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1803,1697,1735,1659,0,0,0,0,0,0,15.04,15.04,15.04
$GC,3074,0.76,243.3,2999,1803,1735,1658,91.6,13.1,557,3081,0.00,2.40,0.00,0.000,2308,0.000,0.050,2999,3205,1696,1734,1658,0,0,0,0,0,0,15.04,14.76,15.05
$GC,3124,0.76,243.3,2999,3205,1733,1658,84.3,15.1,566,3131,0.00,2.42,0.00,0.000,1030,0.000,0.054,3003,1796,1696,1734,1658,0,0,0,0,0,0,14.85,14.75,14.88
$GC,3196,0.76,243.3,3002,1796,1734,1658,73.7,14.5,579,3202,0.00,2.45,0.00,0.000,516,0.000,0.073,3006,392,1696,1735,1658,0,0,0,0,0,0,15.04,14.76,15.05
$GC,3277,0.76,243.3,3005,391,1733,1658,62.9,12.1,594,3283,0.00,2.35,0.00,0.000,1030,0.000,0.035,3006,1809,1696,1734,1658,0,0,0,0,0,0,14.92,14.85,14.94
$GC,3348,0.76,243.3,3005,1812,1733,1657,54.4,13.0,607,3355,0.00,2.35,0.00,0.000,260,0.000,0.050,3005,3205,1695,1733,1657,0,0,0,0,0,0,15.04,14.70,15.05
$GC,3433,0.76,243.3,3005,3205,1733,1657,43.3,11.7,623,3440,0.00,2.40,0.00,0.000,5126,0.000,0.053,3007,1799,1695,1733,1657,0,0,0,0,0,0,14.80,14.69,14.81
$GC,3504,0.76,243.3,3007,1800,1733,1657,34.9,11.9,636,3511,0.00,2.47,0.00,0.000,4612,0.000,0.073,3014,384,1693,1730,1656,0,0,0,0,0,0,15.07,14.72,15.07
$GC,3595,0.76,243.3,3014,384,1733,1657,24.7,10.3,653,3602,0.00,2.38,0.00,0.000,5126,0.000,0.035,3014,1809,1694,1733,1656,0,0,0,0,0,0,14.92,14.81,14.95
$GC,3667,0.76,244.3,3014,1812,1733,1656,17.9,10.0,666,3673,0.00,2.35,0.00,0.000,4356,0.000,0.054,3014,3204,1694,1733,1656,0,0,0,0,0,0,15.04,14.80,15.05
$GC,3726,0.76,244.3,3014,3204,1732,1656,11.7,11.4,677,3733,0.00,2.42,0.00,0.000,5126,0.000,0.053,3017,1792,1695,1734,1656,0,0,0,0,0,0,14.92,14.81,14.94
$GC,3798,0.81,285.1,3016,1792,1732,1656,4.8,8.9,690,3822,0.00,0.00,21.45,0.884,10242,0.000,0.000,3016,1793,1570,1611,1529,0,0,0,0,0,0,15.06,28.83,15.06
$STATE,3823,end climb,SURFACE_DEPTH_REACHED
$STATE,3823,begin surface coast
$FINISH,0.1,1.025831
$STATE,3861,end surface coast,CONTROL_FINISHED_OK
$STATE,3861,begin surface
$SM_CCo,3885,167.40,0.828,0,0,600,515.37
$SM_GC,0.84,13.65,0.00,167.40,0.041,0.000,0.828,118,1789,600,-8.18,-0.65,515.37,0,0,0,0,0,0,14.80,15.01,14.02
$IRIDIUM_FIX,-3414.71,2535.44,180419,134607
$TT8_MAMPS,0.021721,0.909286
$HUMID,45.51
$INTERNAL_PRESSURE,9.24397
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,190.1,35.1
$SC_FREEKB,3697600
$24V_AH,13.45,134.413
$10V_AH,13.61,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.775,57.675,397.150,167.400,0.000,30.125,36.830,284.939,7.500,0.000,17.150,1441.824,658.786,732.197,1545.155,293.622,0.000,1399.832,0.000,1059.809,0.000,49.769,0.000
$DEVICE_MAMPS,306.000,73.440,1236.240,828.495,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3935.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.744,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,16739,701
$CAP_FILE_SIZE,127081,0
$CFSIZE,2097086464,2011889664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180419,162431,-3427.432,2533.657,7,1.0,36,-28.0,0.7,229.9,9,5.2